This paper presents an open-loop articulated 6-degree-of-freedom (DoF) robotic system for three-dimensional (3D) scanning of objects by contact-based method. A digitizer probe was used to detect contact with the object. Inverse kinematics (IK) was used to determine the joint angles of the robot corresponding to the probe position and orientation, and straight-line trajectory planning was implemented for motion. The system can take single-point measurements and 3D scans of freeform surfaces. Specifying the scanning area's size, position, and density, the system automatically scans the designated volume. The system produces 3D scans in Standard Triangle Language (STL) format, ensuring compatibility with commonly used 3D software. Tests based on ASME B89.4.22 standards were conducted to quantify accuracy and repeatability. The point cloud from the scans was compared to the original 3D model of the object.

翻译：本文提出了一种用于通过接触式方法对物体进行三维扫描的开环关节式六自由度机器人系统。系统使用数字转换器探头检测与物体的接触。利用逆运动学确定与探头位置和方向对应的机器人关节角度，并采用直线轨迹规划进行运动控制。该系统能够对自由曲面进行单点测量和三维扫描。通过指定扫描区域的尺寸、位置和密度，系统可自动扫描指定体积。系统生成标准三角语言格式的三维扫描数据，确保与常用三维软件的兼容性。基于ASME B89.4.22标准进行了测试以量化系统精度与重复性。扫描所得点云数据与物体的原始三维模型进行了对比分析。